version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 385
start: 7 14 117 11 48 40
data:
$ID,574
$MISSION,23
$DIVE,385
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,500
$D_BOOST,5
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,335
$T_MISSION,350
$T_ABORT,400
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,0
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,17
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52970
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,143
$PITCH_MAX,3888
$C_PITCH,2835
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,-6.8056469e+38
$PITCH_GAIN,50
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,245
$ROLL_MAX,3880
$ROLL_DEG,40
$C_ROLL_DIVE,2130
$C_ROLL_CLIMB,1840
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3961
$C_VBD,2465
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,145
$AH0_10V,96.25
$MINV_24V,19
$MINV_10V,8.5
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-48.230709
$PRESSURE_SLOPE,0.0001171049
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,200
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,38
$DEVICE3,51
$DEVICE4,69
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,17
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043017557
$SEABIRD_T_H,0.00062339538
$SEABIRD_T_I,2.3377639e-05
$SEABIRD_T_J,2.5612862e-06
$SEABIRD_C_G,-9.9136524
$SEABIRD_C_H,1.1456692
$SEABIRD_C_I,-0.00078246131
$SEABIRD_C_J,0.00012677554
$GPS1,140717,113602,-2951.4353,3152.6816,34,0.9,34,-25.0,0.0,0.0,10,8.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-77.0
$GPS2,140717,114752,-2951.5298,3152.7671,6,0.9,6,-25.0,1.9,85.6,10,13.9
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,TGT1
$TGT_LATLONG,-3000.000,3200.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,168.5,19510,-13.3,-9.950,-16.52,4010
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.48,-175.2,123,2143,1297,1151,0.0,0.0,0,80,0.00,0.00,-62.60,0.000,16386,0.000,0.000,124,2144,3019,3030,3009,0,0,0,0,0,0,26.04,28.83,26.06
$GC,83,-0.48,-175.2,123,2143,3030,3009,4.1,-5.7,8,102,9.93,2.22,-2.85,0.000,18948,0.216,0.037,2671,689,3183,3212,3154,0,0,0,0,0,0,25.29,24.29,25.48
$GC,175,-0.48,-175.2,2670,688,3224,3147,33.3,-16.9,22,184,0.00,2.28,0.00,0.000,1030,0.000,0.028,2661,2143,3185,3227,3144,0,0,0,0,0,0,25.86,25.82,25.88
$GC,316,-0.48,-175.2,2661,2143,3228,3142,64.7,-22.2,47,322,0.00,2.08,0.00,0.000,260,0.000,0.031,2651,3542,3184,3228,3141,0,0,0,0,0,0,26.27,25.91,26.28
$GC,341,-0.48,-175.2,2650,3542,3228,3141,69.8,-20.4,51,347,0.00,2.15,0.00,0.000,1030,0.000,0.021,2651,2095,3185,3229,3141,0,0,0,0,0,0,26.04,25.97,26.06
$GC,657,-0.48,-175.2,2650,2091,3233,3140,127.7,-17.3,96,658,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2091,3186,3233,3140,0,0,0,0,0,0,26.43,26.44,26.44
$GC,958,-0.48,-175.2,2650,2090,3235,3140,176.5,-16.3,126,967,0.00,2.12,0.00,0.000,260,0.000,0.031,2641,3538,3187,3235,3140,0,0,0,0,0,0,26.51,26.13,26.53
$GC,1019,-0.48,-175.2,2639,3538,3236,3140,185.8,-13.4,132,1028,0.12,2.08,0.00,0.000,3078,0.117,0.024,2683,2129,3188,3236,3140,0,0,0,0,0,0,25.97,26.17,26.11
$GC,1339,-0.48,-175.2,2682,2128,3237,3138,224.9,-11.8,154,1344,0.00,2.08,0.00,0.000,516,0.000,0.029,2683,722,3188,3238,3138,0,0,0,0,0,0,26.58,26.20,26.59
$GC,1413,-0.48,-175.2,2682,722,3237,3138,231.5,-11.2,157,1420,0.00,2.12,0.00,0.000,1030,0.000,0.027,2675,2148,3187,3237,3138,0,0,0,0,0,0,26.30,26.22,26.32
$GC,2221,-0.48,-175.2,2674,2148,3237,3134,332.2,-11.4,198,2227,0.00,2.05,0.00,0.000,260,0.000,0.034,2664,3532,3185,3237,3134,0,0,0,0,0,0,26.63,26.25,26.65
$GC,2288,-0.48,-175.2,2663,3532,3237,3134,338.2,-10.4,201,2292,0.00,2.08,0.00,0.000,1030,0.000,0.024,2663,2123,3185,3237,3133,0,0,0,0,0,0,26.37,26.29,26.39
$GC,3095,-0.48,-175.2,2663,2120,3235,3130,453.1,-15.4,241,3101,0.00,2.08,0.00,0.000,516,0.000,0.031,2664,724,3182,3235,3130,0,0,0,0,0,0,26.70,26.27,26.71
$GC,3239,-0.48,-175.2,2663,723,3234,3130,471.5,-12.6,248,3244,0.00,2.08,0.00,0.000,1030,0.000,0.028,2654,2121,3182,3234,3130,0,0,0,0,0,0,26.34,26.29,26.37
$GC,4057,-0.48,-175.2,2653,2120,3231,3125,570.8,-11.6,289,4063,0.00,2.10,0.00,0.000,260,0.000,0.034,2643,3535,3178,3231,3125,0,0,0,0,0,0,26.68,26.27,26.70
$GC,4140,-0.48,-175.2,2643,3535,3229,3125,577.9,-8.9,293,4145,0.10,2.08,0.00,0.000,3078,0.140,0.024,2677,2126,3177,3229,3125,0,0,0,0,0,0,26.06,26.31,26.20
$GC,4952,-0.48,-175.2,2676,2124,3228,3118,657.5,-10.5,334,4958,0.00,2.15,0.00,0.000,260,0.000,0.034,2668,3544,3173,3228,3118,0,0,0,0,0,0,26.72,26.27,26.73
$GC,5032,-0.48,-175.2,2667,3544,3227,3118,665.0,-9.3,338,5038,0.00,2.10,0.00,0.000,1030,0.000,0.024,2668,2127,3172,3227,3118,0,0,0,0,0,0,26.39,26.31,26.42
$GC,5852,-0.48,-175.2,2668,2123,3226,3115,762.9,-12.5,379,5858,0.00,2.12,0.00,0.000,260,0.000,0.035,2658,3543,3170,3226,3115,0,0,0,0,0,0,26.72,26.25,26.74
$GC,5933,-0.48,-175.2,2657,3543,3225,3114,771.7,-11.0,383,5939,0.00,2.10,0.00,0.000,1030,0.000,0.025,2658,2133,3169,3225,3114,0,0,0,0,0,0,26.37,26.29,26.40
$GC,6752,-0.48,-175.2,2657,2131,3224,3109,877.0,-13.8,424,6758,0.00,2.10,0.00,0.000,260,0.000,0.035,2648,3531,3166,3224,3109,0,0,0,0,0,0,26.72,26.22,26.74
$GC,6879,-0.48,-175.2,2647,3532,3222,3109,891.1,-11.3,430,6884,0.00,2.12,0.00,0.000,1030,0.000,0.026,2648,2135,3165,3222,3109,0,0,0,0,0,0,26.31,26.27,26.34
$STATE,7575,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7575,begin apogee
$GC,7581,0.00,0.0,2648,1810,3220,3107,973.6,-11.9,465,7726,0.60,0.00,141.25,1.285,10246,0.127,0.000,2832,1809,2465,2539,2391,0,0,0,0,0,0,25.73,24.44,23.68
$STATE,7726,end apogee,CONTROL_FINISHED_OK
$STATE,7727,begin climb
$GC,7728,0.48,175.2,2831,1809,2538,2391,978.8,0.0,472,7890,0.43,2.45,151.38,1.271,10500,0.049,0.031,2998,3236,1749,1846,1653,0,0,0,0,0,0,24.63,23.79,23.05
$GC,8011,0.48,175.2,2998,3235,1839,1653,942.5,18.3,486,8018,0.00,2.17,0.00,0.000,1030,0.000,0.031,3008,1874,1745,1839,1652,0,0,0,0,0,0,25.01,24.93,25.03
$GC,8819,0.48,175.2,3008,1874,1834,1645,769.4,21.6,527,8825,0.00,2.05,0.00,0.000,260,0.000,0.028,3008,3244,1739,1834,1645,0,0,0,0,0,0,26.32,25.98,26.34
$GC,8986,0.48,175.2,3007,3244,1833,1645,739.7,17.8,535,8990,0.00,2.15,0.00,0.000,1030,0.000,0.031,3019,1836,1739,1833,1646,0,0,0,0,0,0,26.10,26.01,26.14
$GC,9793,0.48,175.2,3018,1836,1830,1644,574.7,20.6,575,9798,0.00,2.17,0.00,0.000,516,0.000,0.038,3029,431,1736,1828,1644,0,0,0,0,0,0,26.53,26.10,26.55
$GC,9821,0.48,175.2,3029,431,1823,1643,570.3,20.9,576,9826,0.12,2.15,0.00,0.000,5126,0.193,0.027,2995,1838,1734,1824,1645,0,0,0,0,0,0,25.78,26.17,26.02
$GC,10633,0.48,175.2,2995,1842,1825,1643,429.6,17.4,617,10634,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,1842,1734,1825,1644,0,0,0,0,0,0,26.61,26.63,26.63
$GC,11433,0.48,175.2,2995,1843,1825,1644,299.5,16.0,657,11436,0.00,2.12,0.00,0.000,260,0.000,0.031,2995,3251,1734,1825,1644,0,0,0,0,0,0,26.65,26.24,26.67
$GC,11447,0.48,175.2,2995,3252,1825,1643,299.5,16.0,657,11454,0.00,2.12,0.00,0.000,1030,0.000,0.027,3004,1829,1734,1825,1644,0,0,0,0,0,0,26.33,26.25,26.37
$GC,12254,0.48,175.2,3003,1829,1826,1644,153.3,16.8,710,12262,0.00,2.12,0.00,0.000,516,0.000,0.035,3014,437,1734,1825,1644,0,0,0,0,0,0,26.67,26.18,26.69
$GC,12307,0.48,175.2,3014,437,1820,1643,145.7,15.0,715,12314,0.00,2.17,0.00,0.000,1030,0.000,0.026,3014,1848,1733,1822,1644,0,0,0,0,0,0,26.32,26.28,26.34
$GC,12615,0.48,175.2,3014,1851,1825,1644,100.6,14.0,746,12623,0.00,2.17,0.00,0.000,516,0.000,0.034,3025,429,1734,1824,1644,0,0,0,0,0,0,26.68,26.19,26.70
$GC,12712,0.48,175.2,3024,428,1820,1644,89.2,10.5,763,12719,0.10,2.15,0.00,0.000,5126,0.164,0.028,2996,1848,1733,1822,1644,0,0,0,0,0,0,25.96,26.27,26.14
$GC,13039,0.48,176.4,2995,1852,1826,1644,54.3,9.9,824,13047,0.00,2.20,0.00,0.000,516,0.000,0.033,3005,434,1734,1825,1644,0,0,0,0,0,0,26.68,26.20,26.70
$GC,13134,0.50,191.3,3004,434,1822,1644,45.4,9.6,841,13153,0.00,2.12,11.80,0.619,9222,0.000,0.026,3005,1845,1685,1780,1590,0,0,0,0,0,0,26.36,26.28,25.46
$STATE,13501,end climb,SURFACE_DEPTH_REACHED
$STATE,13501,begin surface coast
$FINISH,0.8,1.024005
$STATE,13533,end surface coast,CONTROL_FINISHED_OK
$STATE,13533,begin surface
$SM_CCo,13549,47.33,0.049,0,0,1240,300.24
$SM_GC,2.48,7.50,0.40,47.33,0.030,0.025,0.049,123,2217,1240,-8.42,-1.30,300.24,0,0,0,0,0,0,26.16,26.39,26.10
$IRIDIUM_FIX,-2940.11,3153.21,140717,114156
$TT8_MAMPS,0.026215,0.290612
$HUMID,56.02
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,902.0,85.3
$24V_AH,23.05,33.489
$10V_AH,10.15,16.868
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,18.900,73.875,304.425,47.325,0.000,62.796,45.855,397.629,18.250,0.000,12.765,2233.295,9033.385,422.321,2491.748,151.488,0.000,1291.471,0.000,1864.903,0.000,128.465,0.000
$DEVICE_MAMPS,216.495,47.430,1285.200,48.960,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,630.426,97.910,412.277,413.455,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343296
$DATA_FILE_SIZE,57022,908
$CAP_FILE_SIZE,115215,0
$CFSIZE,2097086464,2054324224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,140717,153702,-2952.328,3154.446,69,0.8,69,-25.0,0.5,97.6,10,7.4